DEALING WITH UNANTICIPATED EVENTS IN AUTONOMOUS NAVIGATION.

B. L. Burks; D. L. Barnett; S. M. Killough; R. C. Mann; F. G. Pin

doi:10.1109/cdc.1987.272801

DEALING WITH UNANTICIPATED EVENTS IN AUTONOMOUS NAVIGATION.

B. L. Burks
, D. L. Barnett
, S. M. Killough
, R. C. Mann
, F. G. Pin

RF and Intelligent Systems

Research output: Contribution to journal › Conference article › peer-review

Abstract

In an earlier study the authors demonstrated expert-system control of an autonomous robot navigating in unknown environments and dealing with unexpected events such as moving obstacles. The limitations of this earlier work included insufficient onboard computing capability, restrictions on the sensor suite to only sonar transducers, and a geometrically specified goal location. Here they report improvement of their mobile robot series (currently HERMIES-IIB) to include eight NCUBE onboard processors operating in parallel, and augmentation of the sensor suite with cameras to facilitate onboard vision analysis and goal-finding. They review concisely some related research, describe HERMIES-IIB and its most important components in some detail, discuss some current research goals, and describe a proof-of-principle demonstration including some tasks HERMIES-IIB can perform. They discuss HERMIES-IIB's present limits and outline directions of future research.

Original language	English
Pages (from-to)	1808-1813
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
DOIs	https://doi.org/10.1109/cdc.1987.272801
State	Published - 1987

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10.1109/cdc.1987.272801

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title = "DEALING WITH UNANTICIPATED EVENTS IN AUTONOMOUS NAVIGATION.",

abstract = "In an earlier study the authors demonstrated expert-system control of an autonomous robot navigating in unknown environments and dealing with unexpected events such as moving obstacles. The limitations of this earlier work included insufficient onboard computing capability, restrictions on the sensor suite to only sonar transducers, and a geometrically specified goal location. Here they report improvement of their mobile robot series (currently HERMIES-IIB) to include eight NCUBE onboard processors operating in parallel, and augmentation of the sensor suite with cameras to facilitate onboard vision analysis and goal-finding. They review concisely some related research, describe HERMIES-IIB and its most important components in some detail, discuss some current research goals, and describe a proof-of-principle demonstration including some tasks HERMIES-IIB can perform. They discuss HERMIES-IIB's present limits and outline directions of future research.",

author = "Burks, \{B. L.\} and Barnett, \{D. L.\} and Killough, \{S. M.\} and Mann, \{R. C.\} and Pin, \{F. G.\}",

year = "1987",

doi = "10.1109/cdc.1987.272801",

language = "English",

pages = "1808--1813",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0191-2216",

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AU - Burks, B. L.

AU - Barnett, D. L.

AU - Killough, S. M.

AU - Mann, R. C.

AU - Pin, F. G.

PY - 1987

Y1 - 1987

N2 - In an earlier study the authors demonstrated expert-system control of an autonomous robot navigating in unknown environments and dealing with unexpected events such as moving obstacles. The limitations of this earlier work included insufficient onboard computing capability, restrictions on the sensor suite to only sonar transducers, and a geometrically specified goal location. Here they report improvement of their mobile robot series (currently HERMIES-IIB) to include eight NCUBE onboard processors operating in parallel, and augmentation of the sensor suite with cameras to facilitate onboard vision analysis and goal-finding. They review concisely some related research, describe HERMIES-IIB and its most important components in some detail, discuss some current research goals, and describe a proof-of-principle demonstration including some tasks HERMIES-IIB can perform. They discuss HERMIES-IIB's present limits and outline directions of future research.

AB - In an earlier study the authors demonstrated expert-system control of an autonomous robot navigating in unknown environments and dealing with unexpected events such as moving obstacles. The limitations of this earlier work included insufficient onboard computing capability, restrictions on the sensor suite to only sonar transducers, and a geometrically specified goal location. Here they report improvement of their mobile robot series (currently HERMIES-IIB) to include eight NCUBE onboard processors operating in parallel, and augmentation of the sensor suite with cameras to facilitate onboard vision analysis and goal-finding. They review concisely some related research, describe HERMIES-IIB and its most important components in some detail, discuss some current research goals, and describe a proof-of-principle demonstration including some tasks HERMIES-IIB can perform. They discuss HERMIES-IIB's present limits and outline directions of future research.

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M3 - Conference article

AN - SCOPUS:0023591527

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SP - 1808

EP - 1813

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

ER -

DEALING WITH UNANTICIPATED EVENTS IN AUTONOMOUS NAVIGATION.

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